Material taking path planning method for unmanned collaborative operation of bucket wheel machine

Abstract

The invention relates to the technical field of path planning, in particular to a bucket wheel machine unmanned collaborative operation reclaiming path planning method, which comprises the following steps of: constructing a three-dimensional stacking model of a stock ground, and determining an operation overlapping area of adjacent bucket wheel machines according to operation positions and operation ranges of the adjacent bucket wheel machines; dividing the stockpile in the operation overlapping area into a plurality of stockpile blocks, and generating a priority distribution table of the stockpile blocks in the overlapping area through priority calculation; based on the priority distribution table, the stacking blocks in the operation overlapping area are distributed to the two adjacent bucket wheel machines; planning a preliminary path for each bucket wheel machine by using the distribution result, wherein the path planning needs to be followed; and updating the stacking form and adjusting the path in real time. According to the invention, the conflict of processing the same stockpile block by two bucket wheel machines is effectively avoided, dynamic balance of task load is realized, and high efficiency and continuity of collaborative operation are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of path planning, and in particular to a material taking path planning method for unmanned collaborative operation of a bucket wheel machine. Background Art

[0002] Bucket wheel cranes are large-scale stacking and reclaiming equipment, widely used in bulk material transportation and storage fields such as ports, mines, and power plants. Their main task is to efficiently complete the stacking and reclaiming of materials. However, with the expansion of the scale of bulk material fields and the complexity of operational requirements, the traditional operation mode of bucket wheel cranes has gradually exposed the following problems:

[0003] Frequent conflicts in collaborative operations: In scenarios where multiple bucket wheel machines work together, there may be overlapping areas in the operating ranges of adjacent bucket wheel machines. If there is a lack of reasonable task allocation and path planning mechanism, it is easy for multiple devices to process the same pile of materials at the same time, causing operational conflicts and waste of equipment resources.

[0004] Insufficient ability to adapt to dynamic environments: The stockpile shape of bulk material yards often changes due to material extraction, collapse or landslide. Traditional static path planning methods are difficult to adapt to these dynamic changes in a timely manner, resulting in failure of path planning or reduced operating efficiency, and may even cause equipment safety issues.

[0005] In response to the above problems, current research mainly focuses on data perception based on a single sensor or path planning in a static environment, and lacks a comprehensive solution for dynamic stacking environments and multi-machine collaborative operation scenarios. Summary of the invention

[0006] The invention provides a material taking path planning method for unmanned cooperative operation of a bucket wheel machine.

[0007] A method for planning a material taking path for unmanned collaborative operation of a bucket wheel machine comprises the following steps:

[0008] S1, collect real-time data of the stockyard area through multimodal sensors, build a three-dimensional stockpile model of the stockyard, determine the overlapping operation area of ​​adjacent bucket wheel machines according to the operation positions and operation ranges of adjacent bucket wheel machines, and mark the overlapping operation area in the three-dimensional stockpile model;

[0009] S2, dividing the stockpiles in the overlapping area into a number of stockpiles, and generating a priority distribution table of the stockpiles in the overlapping area by priority calculation and comprehensive consideration of the stockpiling height and stockpiling stability;

[0010] S3, based on the priority distribution table, allocates the stockpiles in the overlapping area to two adjacent bucket wheel machines. The allocation rules include:

[0011] S31, high priority stockpiling blocks are preferentially allocated to bucket wheel machines that are close;

[0012] S32, avoids allocating the same pile block to two bucket wheel machines, ensuring the independence of task allocation;

[0013] S33, maintain the balance of the distribution of the pile blocks to avoid a bucket wheel machine from being idle or overloaded;

[0014] S4, using the allocation results of S3 to plan a preliminary path for each bucket wheel machine, the path planning must follow:

[0015] S41, the path of each bucket wheel machine is limited to the range of its assigned stockpile block;

[0016] S42, the path nodes are arranged from high to low priority to ensure that the material picking task is completed according to the priority;

[0017] S43, path planning considers the bucket wheel crane boom length and rotation range to avoid entering the unallocated area;

[0018] S5, real-time stockpile shape update and path adjustment: During the operation of the bucket wheel machine, when the position of the stockpile block in the overlapping operation area changes, the distance between the stockpile block and the bucket wheel machine is recalculated and reallocated to the bucket wheel machine closest to the updated distance. When the stockpile height and stockpile stability change, the priority of the stockpile block is updated.

[0019] Optionally, the S1 specifically includes:

[0020] S11, equipped with laser radar and camera installed on the bucket wheel machine, collects real-time data of the material field area, including the height, density distribution and boundary shape of the pile, and performs fusion processing on the collected real-time data;

[0021] S12, based on the calibrated data, generate a three-dimensional point cloud model of the stockyard area by point cloud processing, and build a three-dimensional stockpile model of the stockyard by surface fitting and volume calculation on the basis of the three-dimensional point cloud model to obtain the spatial distribution, stockpile height and volume information of the stockpile;

[0022] S13, combining the operation parameters of the bucket wheel machine, including the boom length, the rotation radius and the actual working position, calculating the operation coverage of each bucket wheel machine, analyzing the overlapping part of the operation ranges of two adjacent bucket wheel machines by using a geometric calculation method, and determining the boundary coordinates of the overlapping operation area;

[0023] S14, spatially marking the determined overlapping areas of the operations in the three-dimensional stockpile model.

[0024] Optionally, the S2 specifically includes:

[0025] S21, division of stockpiling blocks: Based on the three-dimensional stockpiling model of the overlapping area of ​​the operation, the overlapping area is divided into several unit stockpiling blocks according to a fixed spatial grid size (Δx, Δy). The three-dimensional center coordinates of each stockpiling block are (x k ,y k , z k ), where z k Indicates the average height of the pile blocks;

[0026] S22, priority calculation parameter extraction: for each pile block k, extract the following characteristic parameters:

[0027] a) Height of pile H k : The average height of the pile blocks is calculated as follows: Among them, N k is the number of point cloud data points in the pile, z i is the height of the point inside the pile block;

[0028] b) Pile stability S k : The stability factor based on the slope of the pile block is defined as:

[0029] Among them, θ k is the slope angle of pile block k, θ max is the maximum stable slope angle allowed for stockpiling, It represents the ratio of the height difference within the pile block to the horizontal distance, tan(θ max ) is defined as the tangent value corresponding to the maximum stable slope of the stockpile;

[0030] S23, priority calculation: Comprehensively consider the pile height and pile stability to calculate the priority P of each pile block. k :P k =ω 1 ·H k +ω 2 ·S k , where ω 1 and ω 2 are weight parameters for priority calculation, reflecting the importance of stockpile height and stockpile stability, respectively, satisfying ω 1 +ω 2 =1,ω 1 Take 0.6, ω 2 Take 0.4;

[0031] S24, generation of priority distribution table: according to the priority P of each stacking block k , sort the stacking blocks in the overlapping area and generate a priority distribution table, which includes the plane coordinates (x k ,y k ), priority value P k, Stacking height H k , Stacking stability S k , and is used to guide subsequent stockpile block allocation and path planning.

[0032] Optionally, the high-priority stockpile blocks in S31 are preferentially allocated to bucket wheels that are close in distance, including calculating the distance D between the stockpile block k and two adjacent bucket wheels. 1k and D 2k , according to the priority value P of each pile block in the priority distribution table k and plane coordinates (x k ,y k ), calculated as:

[0033] Among them, (X 1 , Y 1 ) and (X 2 , Y 2 ) are the current positions of bucket wheel machine 1 and bucket wheel machine 2 respectively, and the high priority stockpile block k is preferentially allocated to the bucket wheel machine i that is closest to it, that is, the bucket wheel machine that meets the following conditions:

[0034] i=arg min i∈{1，2} D ik .

[0035] Optionally, the method of avoiding allocating the same pile block to two bucket wheel machines in S32 is implemented based on the task allocation independence rule to ensure that the same pile block k will not be allocated to two bucket wheel machines at the same time. Before allocation, check whether the pile block k has been allocated. If k has been allocated to bucket wheel machine i, it is prohibited to be allocated to another bucket wheel machine to ensure the independence of task allocation.

[0036] Optionally, the step S33 of avoiding idleness or overload of a bucket wheel machine is implemented based on a load balancing rule, by real-time monitoring of the task progress and the number of allocated stockpiles of the two bucket wheel machines, balancing the task load, and calculating the number of stockpiles currently allocated to bucket wheel machine 1 and bucket wheel machine 2. 1 and N 2 , during the distribution process, when the load of one bucket wheel machine is significantly higher than that of another (i.e. N 1 -N 2 >ΔN max , ΔN max The value is 2), and the remaining stockpile blocks are preferentially allocated to the bucket wheel excavator with light load.

[0037] Optionally, in S4, according to the pile blocks allocated in S3, the plane coordinates (x k ,y k ), as the path node, the path node set assigned to each bucket wheel machine is sorted according to the priority value P kSort from high to low to generate a path node queue Wherein, i represents the bucket wheel machine number.

[0038] Optionally, in S42, the path nodes are arranged from high to low priority, including according to the priority queue Q i Connect the path nodes in order and plan the path

[0039] Give priority to completing the material extraction tasks of high-priority stockpiles.

[0040] Optionally, the S5 specifically includes:

[0041] S51, recalculation and allocation when the position of the pile block changes: When the position of the pile block changes (for example, due to collapse or landslide, that is, the plane coordinate changes from (x k ,y k ) becomes the new plane coordinate (x k ′,y k ′), recalculate the distance D between the pile block and the bucket wheel machine ik ′, and assign it to the bucket wheel machine closest to the updated one;

[0042] S52, reallocation: According to the updated distance, the stockpile block k is allocated to the bucket wheel machine i that meets the following conditions: i = argmin i∈{1，2} D ik ′.

[0043] Optionally, S5 further includes:

[0044] Pile height update: recalculate the average height H of the pile blocks k ′;

[0045] Stack stability update: recalculate the stability S according to the updated form of the stack block k ′;

[0046] Priority update: recalculate the priority P of the stacking block k ′.

[0047] Beneficial effects of the present invention:

[0048] The present invention, by constructing a three-dimensional stockpile model of the material yard and combining a multimodal sensor to monitor the changes in the stockpile morphology in real time, can accurately identify the overlapping operation areas of adjacent bucket wheel machines and dynamically allocate stockpile blocks, and adopts a priority distribution table to guide the task allocation and path planning of the stockpile blocks, thereby effectively avoiding the conflict between two bucket wheel machines in processing the same stockpile block, and at the same time achieving a dynamic balance of task loads, thereby ensuring the high efficiency and sustainability of collaborative operations.

[0049] The present invention designs a dynamic update mechanism for the morphological changes of the pile caused by collapse, landslide, etc., and ensures that the pile blocks are always allocated to the bucket wheel machine closest to them by recalculating the distance between the pile blocks and the bucket wheel machine and the pile priority in real time. The priority distribution table is adjusted according to the latest pile height and stability, the path planning is optimized, and the adaptability of the system to dynamic environments is improved, providing strong technical support for unmanned collaborative operations under complex working conditions.

[0050] The present invention utilizes dynamically allocated stockpile information to strictly limit the planned bucket wheel machine path within the respective allocated range, avoiding path intersection or resource waste, ensuring priority execution of high-priority tasks and optimization of the overall path, minimizing the risk of path conflict, and improving the operating efficiency and safety of the bucket wheel machine. At the same time, combined with the arm length and rotation range constraints of the bucket wheel machine, the accuracy of path planning is further enhanced, effectively improving the stability and safety of unmanned operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 A schematic diagram of a method flow of an embodiment of the present invention;

[0053] Figure 2 Schematic diagram of the material block division and priority calculation according to an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0055] It should be noted that the references to "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0056] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0057] like Figure 1-Figure 2 As shown, a method for planning a material taking path for unmanned collaborative operation of a bucket wheel machine comprises the following steps:

[0058] S1, collect real-time data of the stockyard area through multimodal sensors, build a three-dimensional stockpile model of the stockyard, determine the overlapping operation area of ​​adjacent bucket wheel machines according to the operation positions and operation ranges of adjacent bucket wheel machines, and mark the overlapping operation area in the three-dimensional stockpile model;

[0059] S2, dividing the stockpiles in the overlapping area into a number of stockpiles, and generating a priority distribution table of the stockpiles in the overlapping area by priority calculation and comprehensive consideration of the stockpiling height and stockpiling stability;

[0060] S3, based on the priority distribution table, allocates the stockpiles in the overlapping area to two adjacent bucket wheel machines. The allocation rules include:

[0061] S31, high priority stockpiling blocks are preferentially allocated to bucket wheel machines that are close;

[0062] S32, avoids allocating the same pile block to two bucket wheel machines, ensuring the independence of task allocation;

[0063] S33, maintain the balance of the distribution of the pile blocks to avoid a bucket wheel machine from being idle or overloaded;

[0064] S4, using the allocation results of S3 to plan a preliminary path for each bucket wheel machine, the path planning must follow:

[0065] S41, the path of each bucket wheel machine is limited to the range of its assigned stockpile block;

[0066] S42, the path nodes are arranged from high to low priority to ensure that the material picking task is completed according to the priority;

[0067] S43, path planning considers the bucket wheel crane boom length and rotation range to avoid entering the unallocated area;

[0068] S5, real-time stockpile shape update and path adjustment: During the operation of the bucket wheel machine, the position of the initially divided stockpile blocks may change due to the collapse of the stockpile, landslide, etc. When the position of the stockpile blocks in the overlapping operation area changes, the distance between the stockpile blocks and the bucket wheel machine is recalculated and reallocated to the bucket wheel machine closest to the updated distance. When the stockpile height and stockpile stability change, the priority of the stockpile block is updated.

[0069] S1 specifically includes:

[0070] S11, equipped with laser radar and camera installed on the bucket wheel machine, collects real-time data of the material field area, including the height, density distribution and boundary shape of the pile, and performs fusion processing on the collected real-time data;

[0071] S12, based on the calibrated data, generate a three-dimensional point cloud model of the stockyard area by point cloud processing, and build a three-dimensional stockpile model of the stockyard by surface fitting and volume calculation on the basis of the three-dimensional point cloud model to obtain the spatial distribution, stockpile height and volume information of the stockpile;

[0072] S13, combining the operation parameters of the bucket wheel machine, including the boom length, the rotation radius and the actual working position, calculating the operation coverage of each bucket wheel machine, analyzing the overlapping part of the operation ranges of two adjacent bucket wheel machines by using a geometric calculation method, and determining the boundary coordinates of the overlapping operation area;

[0073] S14, spatially marking the determined overlapping areas of the operations in the three-dimensional stockpile model.

[0074] LiDAR and camera data fusion:

[0075] P(x, y, z) = α·P LiDAR (x, y, z)+β·P Camera (x, y, z), where P(x, y, z) is the fused three-dimensional point cloud data, (x, y, z) represents the three-dimensional coordinates of the point, and P LiDAR (x, y, z) is the 3D point cloud data collected by the LiDAR, P Camera (x, y, z) is the 3D point cloud data acquired by the camera, α, β are weighting coefficients that reflect the importance of the lidar and camera data, and are usually set according to the accuracy of the sensor (α = 0.7, β = 0.3);

[0076] The mathematical expression of the three-dimensional stockpile model is: in,

[0077] Z = f (x, y) is the stockpile surface model of the material field, which represents the stockpile height at any point (x, y). Interp (·) is an interpolation function used to convert point cloud data into a continuous surface model.

[0078] Represents the coordinates of the i-th point in the collected point cloud data set;

[0079] Stockpile volume calculation: Where V is the volume of the pile, is the projection area of ​​the pile block on the horizontal plane, f(x, y) is the pile surface model, Z ground is the ground reference height;

[0080] Calculation of the operating range of adjacent bucket wheel machines: Among them, R i (x, y) is the operating radius of bucket wheel machine i, (X i , Y i ) is the coordinate of bucket wheel machine i, R max，i is the maximum operating radius of bucket wheel machine i; condition: if R i (x,y)≤R max，i , then point (x, y) belongs to the operating range of bucket wheel machine i;

[0081] Then the overlap area boundary is calculated as:

[0082] in, It is the overlapping area of ​​two adjacent bucket wheel machines. 1 (x,y), R 2 (x, y) represent the operating radius of bucket wheel machine 1 and bucket wheel machine 2 respectively;

[0083] The marking rule for the overlapping area of ​​the operation is expressed as:

[0084] Among them, M(x, y, z) is a labeling matrix, indicating whether a point in the three-dimensional stockpile model belongs to the overlapping area. is the overlapping area of ​​operations. (x, y, z) is the point coordinate in the 3D stockpile model. Points with a label value of 1 belong to the overlapping area and can be marked as conflict areas in the 3D model for subsequent path planning.

[0085] S2 specifically includes:

[0086] S21, division of stockpiling blocks: Based on the three-dimensional stockpiling model of the overlapping area of ​​the operation, the overlapping area is divided into several unit stockpiling blocks according to a fixed spatial grid size (Δx, Δy). The three-dimensional center coordinates of each stockpiling block are (x k ,y k , z k ), where z k Indicates the average height of the pile, and the difference in height between adjacent piles is less than the preset threshold ∈ h The grid units form a more uniform pile block area;

[0087] S22, priority calculation parameter extraction: for each pile block k, extract the following characteristic parameters:

[0088] a) Height of pile H k : The average height of the pile blocks is calculated as follows: Among them, N k is the number of point cloud data points in the pile, z i is the height of the point inside the pile block;

[0089] b) Pile stability S k : The stability factor based on the slope of the pile block is defined as:

[0090] Among them, θ k is the slope angle of pile block k, θ max is the maximum stable slope angle allowed for stockpiling, It represents the ratio of the height difference within the pile block to the horizontal distance, tan(θ max ) is defined as the tangent value corresponding to the maximum stable slope of the pile. For bulk materials, tan( max) is between 0.5 (about 26.6°) and 1.0 (about 45°);

[0091] S23, priority calculation: Comprehensively consider the pile height and pile stability to calculate the priority P of each pile block. k :P k =ω 1 ·H k +ω 2 ·S k , where ω 1 and ω 2 are weight parameters for priority calculation, reflecting the importance of stockpile height and stockpile stability, respectively, satisfying ω 1 +ω 2 =1,ω 1 Take 0.6, ω 2 Take 0.4;

[0092] S24, generation of priority distribution table: according to the priority P of each stacking block k , sort the stacking blocks in the overlapping area and generate a priority distribution table, which includes the plane coordinates (x k ,y k ), priority value P k , Stacking height H k , Stacking stability S k , and is used to guide subsequent stockpile block allocation and path planning.

[0093] High priority pile blocks: the top 30% of the pile blocks with the highest priority value;

[0094] Low priority blocks: These are the blocks with lower priority values, which account for the last 70%.

[0095] The high priority stockpile blocks in S31 are preferentially allocated to the bucket wheel machines that are close to each other, including calculating the distance D between the stockpile block k and the two adjacent bucket wheel machines. 1k and D 2k , according to the priority value P of each pile block in the priority distribution table k and plane coordinates (x k ,y k ), calculated as:

[0096] Among them, (X 1 , Y 1 ) and (X 2 , Y 2 ) are the current positions of bucket wheel machine 1 and bucket wheel machine 2 respectively, and the high priority stockpile block k is preferentially allocated to the bucket wheel machine i that is closest to it, that is, the bucket wheel machine that meets the following conditions:

[0097] i=arg min i∈{1，2} D ik .

[0098] Avoiding the same pile block from being allocated to two bucket wheel machines in S32 is implemented based on the task allocation independence rule, ensuring that the same pile block k will not be allocated to two bucket wheel machines at the same time. Before allocation, check whether the pile block k has been allocated. If k has been allocated to bucket wheel machine i, it is prohibited to be allocated to another bucket wheel machine to ensure the independence of task allocation.

[0099] The avoidance of idleness or overload of a bucket wheel machine in S33 is realized based on the load balancing rule. The task progress and the number of allocated stockpiles of the two bucket wheel machines are monitored in real time to balance the task load and calculate the number of stockpiles currently allocated to bucket wheel machine 1 and bucket wheel machine 2. 1 and N 2 , during the distribution process, when the load of one bucket wheel machine is significantly higher than that of another (i.e. N 1 -N 2 >ΔN max , ΔN max The value is 2), and the remaining pile blocks are preferentially allocated to the bucket wheel machine with light load, that is, satisfying: i = arg min i∈{1，2} N i , where ΔN max The maximum difference threshold for load balancing.

[0100] In S4, according to the pile blocks allocated in S3, the plane coordinates (x k,y k ), as the path node, the path node set assigned to each bucket wheel machine is sorted according to the priority value P k Sort from high to low to generate a path node queue Wherein, i represents the bucket wheel machine number;

[0101] Path range limitation (S41): The path planning of each bucket wheel machine is only carried out within the range of its assigned stockpile block, ensuring that the coordinates of the path nodes (x k ,y k ) meets the following conditions: in, It is the distribution pile block range of bucket wheel machine i.

[0102] In S42, the path nodes are arranged from high to low priority, including according to the priority queue Q i Connect the path nodes in order and plan the path Give priority to completing the material retrieval tasks of high-priority stockpiles to ensure the efficiency of path execution.

[0103] Boom length and rotation range constraints (S43): During the path planning process, the distance from the end of the bucket wheel crane boom to the path node is calculated to be less than the maximum boom length of the bucket wheel crane. According to the rotation range of the bucket wheel crane, ensure that the angle change between the path nodes is less than the rotation range of the bucket wheel crane to avoid the path entering the unallocated stockpile block or exceeding the reachable range of the bucket wheel crane.

[0104] S5 specifically includes:

[0105] S51, recalculation and allocation when the position of the pile block changes: When the position of the pile block changes (for example, due to collapse or landslide, that is, the plane coordinate changes from (x k ,y k ) becomes the new plane coordinate (x k ′,y k ′), recalculate the distance D between the pile block and the bucket wheel machine ik ′, and assign it to the bucket wheel machine closest to the updated one;

[0106] Recalculate the distance:

[0107] Among them, D ik ′ represents the Euclidean distance between the updated position of bucket wheel machine i and pile block k, (X i , Y i ) is the current coordinate of bucket wheel machine i;

[0108] S52, reallocation: According to the updated distance, the stockpile block k is allocated to the bucket wheel machine i that meets the following conditions: i = argmin i∈{1，2} Dik ′.

[0109] The S5 also includes:

[0110] Pile height update: recalculate the average height H of the pile blocks k ′:

[0111] Among them, H k ′ is the average height of the updated pile blocks, N k ′ is the number of point clouds contained in the updated stacking block, z j ′ is the height of each point in the point cloud data of the pile block after update;

[0112] Stack stability update: recalculate the stability S according to the updated form of the stack block k ′:

[0113] Among them, θ k ′ is the slope angle of the updated pile block,

[0114] Priority update: recalculate the priority P of the stacking block k ′:

[0115] P k ′=ω 1 ·H k ′+ω 2 ·S k ′.

[0116] The updated priority P k ′Insert into the priority distribution table, sort by priority from high to low, and reallocate the path nodes.

[0117] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0118] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for planning a material taking path for unmanned cooperative operation of a bucket wheel machine, characterized in that: The following steps are involved: S1, collect real-time data of the stockyard area through multimodal sensors, build a three-dimensional stockpile model of the stockyard, determine the overlapping operation area of ​​adjacent bucket wheel machines according to the operation positions and operation ranges of adjacent bucket wheel machines, and mark the overlapping operation area in the three-dimensional stockpile model; S2, dividing the stockpiles in the overlapping area into a number of stockpiles, and generating a priority distribution table of the stockpiles in the overlapping area by priority calculation and comprehensive consideration of the stockpiling height and stockpiling stability; S3, based on the priority distribution table, allocates the stockpiles in the overlapping area to two adjacent bucket wheel machines. The allocation rules include: S31, high priority stockpiling blocks are preferentially allocated to bucket wheel machines that are close; S32, avoids allocating the same pile block to two bucket wheel machines; S33, maintain the balance of the distribution of the pile blocks to avoid a bucket wheel machine from being idle or overloaded; S4, using the allocation results of S3 to plan a preliminary path for each bucket wheel machine, the path planning must follow: S41, the path of each bucket wheel machine is limited to the range of its assigned stockpile block; S42, the path nodes are arranged from high to low priority to ensure that the material picking task is completed according to the priority; S43, path planning considers the bucket wheel crane boom length and rotation range to avoid entering the unallocated area; S5, real-time stockpile shape update and path adjustment: During the operation of the bucket wheel machine, when the position of the stockpile block in the overlapping operation area changes, the distance between the stockpile block and the bucket wheel machine is recalculated and reallocated to the bucket wheel machine closest to the updated distance. When the stockpile height and stockpile stability change, the priority of the stockpile block is updated.

2. The method for planning a material taking path for unmanned collaborative operation of a bucket wheel machine according to claim 1, characterized in that: The S1 specifically includes: S11, equipped with laser radar and camera installed on the bucket wheel machine, collects real-time data of the material field area, including the height, density distribution and boundary shape of the pile, and performs fusion processing on the collected real-time data; S12, based on the calibrated data, generate a three-dimensional point cloud model of the stockyard area by point cloud processing, and build a three-dimensional stockpile model of the stockyard by surface fitting and volume calculation on the basis of the three-dimensional point cloud model to obtain the spatial distribution, stockpile height and volume information of the stockpile; S13, combining the operation parameters of the bucket wheel machine, including the boom length, the rotation radius and the actual working position, calculating the operation coverage of each bucket wheel machine, analyzing the overlapping part of the operation ranges of two adjacent bucket wheel machines by using a geometric calculation method, and determining the boundary coordinates of the overlapping operation area; S14, spatially marking the determined overlapping areas of the operations in the three-dimensional stockpile model.

3. The method for planning a material taking path for unmanned cooperative operation of a bucket wheel machine according to claim 1, characterized in that: The S2 specifically includes: S21, division of stockpiling blocks: Based on the three-dimensional stockpiling model of the overlapping area of ​​the operation, the overlapping area is divided into several stockpiling blocks according to a fixed spatial grid size (Δx, Δy). The three-dimensional center coordinates of each stockpiling block are (x k ,y k , z k ), where z k Indicates the average height of the pile blocks; S22, priority calculation parameter extraction: for each pile block k, extract the following characteristic parameters: a) Height of pile H k : The average height of the pile blocks is calculated as follows: Among them, N k is the number of point cloud data points in the pile, z i is the height of the point inside the pile block; b) Pile stability S k : The stability factor based on the slope of the pile block is defined as: Among them, θ k is the slope angle of pile block k, θ max is the maximum stable slope angle allowed for stockpiling, It represents the ratio of the height difference within the pile block to the horizontal distance, tan(θ max ) is defined as the tangent value corresponding to the maximum stable slope of the stockpile; S23, priority calculation: Comprehensively consider the pile height and pile stability to calculate the priority P of each pile block. k :P k =ω1·H k +ω2·S k , where ω1 and ω2 are weight parameters for priority calculation, reflecting the importance of stockpile height and stockpile stability, respectively, satisfying ω1+ω2=1; S24, generation of priority distribution table: according to the priority P of each pile block k , sort the stacking blocks in the overlapping area and generate a priority distribution table, which includes the plane coordinates (x k ,y k ), priority value P k , Stacking height H k , Stacking stability S k , and is used to guide subsequent stockpile block allocation and path planning.

4. The method for planning a material taking path for unmanned cooperative operation of a bucket wheel machine according to claim 3, characterized in that: The high priority stockpile blocks in S31 are preferentially allocated to bucket wheel machines that are close in distance, including calculating the distance D between the stockpile block k and the two adjacent bucket wheel machines. 1k and D 2k , according to the priority value P of each pile block in the priority distribution table k and plane coordinates (x k ,y k ), calculated as: Among them, (X1, Y1) and (X2, Y2) are the current positions of bucket wheel machine 1 and bucket wheel machine 2 respectively. The high priority pile block k is preferentially allocated to the bucket wheel machine i that is closest to it, that is, the bucket wheel machine that meets the following conditions: i = argmin i∈{1，2} D ik .

5. The method for planning a material taking path for unmanned cooperative operation of a bucket wheel machine according to claim 4, characterized in that: The method of avoiding allocating the same pile block to two bucket wheel machines in S32 is implemented based on the task allocation independence rule to ensure that the same pile block k will not be allocated to two bucket wheel machines at the same time. Before allocation, check whether the pile block k has been allocated. If k has been allocated to bucket wheel machine i, it is prohibited to be allocated to another bucket wheel machine to ensure the independence of task allocation.

6. A method for planning a material taking path for unmanned collaborative operation of a bucket wheel machine according to claim 5, characterized in that: The method of avoiding idleness or overload of a bucket wheel machine in S33 is implemented based on load balancing rules, by real-time monitoring of the task progress and the number of allocated stockpiling blocks of the two bucket wheel machines, balancing the task load, and calculating the number of stockpiling blocks N1 and N2 currently allocated to bucket wheel machine 1 and bucket wheel machine 2. During the allocation process, when the load of one bucket wheel machine is higher than that of the other, the remaining stockpiling blocks are preferentially allocated to the bucket wheel machine with the lighter load.

7. The method for planning a material taking path for unmanned cooperative operation of a bucket wheel machine according to claim 1, characterized in that: In S4, according to the pile blocks allocated in S3, the plane coordinates (x k ,y k ), as the path node, the path node set assigned to each bucket wheel machine is sorted according to the priority value P k Sort from high to low to generate a path node queue Wherein, i represents the bucket wheel machine number.

8. The method for planning a material taking path for unmanned cooperative operation of a bucket wheel machine according to claim 7, characterized in that: In S42, the path nodes are arranged from high to low priority, including according to the priority queue Q i Connect the path nodes in order and plan the path Give priority to completing the material extraction tasks of high-priority stockpiles.

9. The method for planning a material taking path for unmanned cooperative operation of a bucket wheel machine according to claim 4, characterized in that: The S5 specifically includes: S51, recalculation and allocation when the position of the stacking block changes: When the position of the stacking block changes, that is, the plane coordinate changes from (x k ,y k ) becomes the new plane coordinate (x k ′,y k ′), recalculate the distance D between the pile block and the bucket wheel machine ik ′, and assign it to the bucket wheel machine closest to the updated one; S52, reallocation: According to the updated distance, the stockpile block k is allocated to the bucket wheel machine i that meets the following conditions: i = argmin i∈{1，2} D ik ′.

10. A method for planning a material taking path for unmanned cooperative operation of a bucket wheel machine according to claim 9, characterized in that: The S5 further includes: Pile height update: recalculate the average height H of the pile blocks k ′; Stack stability update: recalculate the stability S according to the updated form of the stack block k ′; Priority update: recalculate the priority P of the stacking block k ′.

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